A haptic surgical simulator for laparoscopic cholecystectomy using real-time deformable organs

Roger Webster, Randy S. Haluck, Gary Zoppetti, Aaron Benson, Josh Boyd, Nathan Charles, Jon Reeser, Shanna Sampson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Scopus citations

Abstract

This paper describes a laparoscopic cholecystectomy surgical training software system we have developed using the Immersion Laparoscopic Surgical Workstation™ and the Verefi Technologies USB thirty-degree endoscopie Vcamera™ hardware. The trainer is designed to train and test for many laparoscopic skills such as manipulation of the laparoscope, grasping and stretching the gallbladder to expose the cystic duct, applying a clip to the cystic duct, cutting the cystic duct, and removing the gallbladder from the abdomen. A texture motion algorithm simulates patient breathing. The gallbladder, cystic duct, and bile ducts are deformed using a physically based particle model with a mass-springs-damper connectivity. We developed an implicit predictor to speed up calculations during each time step. The solution involves repeated application of Newton's 2nd Law of motion (F = ma), using the implicit solver for numerically solving the differential equations. The intent is to provide an effective method to learn the laparoscopic cholecystectomy procedure using a surgical simulator.

Original languageEnglish (US)
Title of host publicationProceedings of the IASTED International Conference on Biomedical Engineering
EditorsM.H. Hamza
Pages219-222
Number of pages4
StatePublished - Dec 1 2003
EventProceedings of the IASTED International Conference on Biomedical Engineering - Salzburg, Austria
Duration: Jun 25 2003Jun 27 2003

Publication series

NameProceedings of the IASTED International Conference on Biomedical Engineering

Other

OtherProceedings of the IASTED International Conference on Biomedical Engineering
Country/TerritoryAustria
CitySalzburg
Period6/25/036/27/03

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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